WO1998001022A1 - An implement for automatically milking animals - Google Patents
An implement for automatically milking animals Download PDFInfo
- Publication number
- WO1998001022A1 WO1998001022A1 PCT/NL1997/000370 NL9700370W WO9801022A1 WO 1998001022 A1 WO1998001022 A1 WO 1998001022A1 NL 9700370 W NL9700370 W NL 9700370W WO 9801022 A1 WO9801022 A1 WO 9801022A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- implement
- robot arm
- milk
- rail
- supporting unit
- Prior art date
Links
- 241001465754 Metazoa Species 0.000 title claims abstract description 29
- 239000008267 milk Substances 0.000 claims abstract description 90
- 210000004080 milk Anatomy 0.000 claims abstract description 90
- 235000013336 milk Nutrition 0.000 claims abstract description 90
- 238000010276 construction Methods 0.000 claims abstract description 61
- 210000002445 nipple Anatomy 0.000 claims abstract description 36
- 241000283690 Bos taurus Species 0.000 claims description 9
- 238000000034 method Methods 0.000 claims 2
- 210000000481 breast Anatomy 0.000 abstract description 2
- 239000000463 material Substances 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01J—MANUFACTURE OF DAIRY PRODUCTS
- A01J5/00—Milking machines or devices
- A01J5/017—Automatic attaching or detaching of clusters
- A01J5/0175—Attaching of clusters
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K1/00—Housing animals; Equipment therefor
- A01K1/12—Milking stations
- A01K1/126—Carousels
Definitions
- the present invention relates to an implement for the automatically milking of animals, such as cows, comprising a milk unit for the automatically connecting of the teat cups of the machine to the teats of the cow.
- the invention aims at simplifying the milk unit construction.
- the implement described in the preamble is characterized in that the milk unit is hingeable connected to the implement in such a way, that the milking machine is moveable in about a horizontal direction forwardly and backwardly about one or more hinges extending near the upper part of the animal.
- the invention also relates to an implement for automatically milking animals, such as cows, provided with at least one milk box and an automatic milking machine including a milking robot for automatically connecting teat cups to the teats of an animal to be milked, automatically milking the animal and automatically disconnecting the teat cups from the teats, the milking robot comprising a robot arm construction movable in the longitudinal direction of the milk box, said robot arm construction being provided with a robot arm pivotable under the udder of the animal and movable in height, which robot arm is adapted to serve as a carrier for the teat cups.
- a milking robot for automatically connecting teat cups to the teats of an animal to be milked, automatically milking the animal and automatically disconnecting the teat cups from the teats
- the milking robot comprising a robot arm construction movable in the longitudinal direction of the milk box, said robot arm construction being provided with a robot arm pivotable under the udder of the animal and movable in height, which robot arm is adapted to serve as a carrier
- the robot arm construction in the longitudinal direction of the milk box by providing the robot arm construction with a supporting unit movable along one or more rails in the longitudinal direction of the milk box, relative to which supporting unit the pivotable portion of the robot arm construction is pivotable in sideward direction.
- the supporting unit may be designed so as to be movable along the rails by means of a motor.
- the sideward pivoting movement can be achieved by means of a control cylinder which is active between the supporting unit and the pivotable portion of the robot arm construction.
- the pivotable portion of the robot arm construction as a carrier extending substantially downwardly to which the robot arm is coupled, it is possible to achieve the movability in height of the robot arm.
- parallel to the control cylinder enabling the movability in height of the robot arm there may be provided one or more guide rods for counteracting a rotating movement of the robot arm relative to the carrier.
- the pivotal axis may constitute the centre line of a material axis about which the robot arm is capable of pivoting actually, it is possible to achieve an embodiment of the robot arm construction in which said pivotal axis is a virtual one.
- the robot arm construction is then provided with a supporting unit movable in the longitudinal direction of the milk box along at least one rail, as well as a quadrangle hinge construction by means of which the pivotable portion of the robot arm construction is pivotable sidewardly relative to the supporting unit.
- the pivotal axis for the robot arm is preferably located approximately in the middle above the milk box.
- milk boxes Besides two milk boxes arranged side by side in longitudinal direction, there may also be provided several milk boxes arranged behind each other; in that case, the rail for the robot arm construction will extend along these milk boxes or thereabove. Finally it is noticed that the milk boxes may be arranged in a carrousel, the rail of the robot arm construction then extending in a circle along the carrousel or thereabove.
- Figure 1 shows a side view of a robot arm construction in accordance with the invention
- Figure 2 is a front view of a milk box in which the robot arm construction of Figure 1 is shown schematically;
- Figure 3 shows an other embodiment of such a robot arm construction in which the pivotal axis is a virtual one, and
- Figure 4 is a front view of two milk boxes between which there is pivotably disposed a robot arm construction in again an other embodiment according to the invention.
- the milk box 1 shown in Figures 1 to 3 accommodates one single animal. Said milk box is surrounded in a customary manner by a fencing 2 and provided with a (non-shown) entrance and exit door.
- an automatic milking machine which, besides the usual milking equipment, includes a milking robot for automatically connecting teat cups to the teats of an animal to be milked which is present in the milk box, automatically milking said animal and automatically disconnecting the teat cups from the teats.
- the milking robot comprises a robot arm construction 3 movable in the longitudinal direction of the milk box 1. Said robot arm construction is provided with a supporting unit 4 which is movable along rails 5 and 6.
- the rail 5 is tubular and disposed in the middle above the milk box 1 in the longitudinal direction thereof by means of supports 7 attached to the fencing 2.
- the rail 5 is also tubular but disposed on the side of the upper side of the milk box 1 in the longitudinal direction thereof by means of supports 8 attached to the fencing 2 at the longitudinal side of the milk box where the robot arm construction is located.
- the rail 6 is disposed approximately half-way the height of the milk box at the longitudinal side of the fencing 2, i.e. at the side where the robot arm construction is located.
- the rail 6 is constituted by an angle section whose abutment face over which the supporting unit 4 can be moved is located at an angle of approximately 45° obliquely downwards and outwards relative to the milk box 1.
- Both at its upper side and its under side the supporting unit 4 is provided with rollers 9 and 10.
- the rollers 9 and 10 are attached to the supporting unit 4 perpendicularly to each other and at an angle of approximately 45° relative to a vertical plane in the longitudinal direction of the milk box, in such a manner that the supporting unit 4 is supported on the rail 5 by means of the rollers 9 and on the rail 6 by means of the rollers 10.
- locking means e.g.
- the supporting unit 4 is capable of being moved along the rails 5 and 6 by means of a motor 12.
- the robot arm construction is furthermore provided with a sidewardly pivotable portion 13 comprising a carrier 14 extending substantially downwardly and a robot arm 15 attached thereto.
- the sidewardly pivotable portion 13 and consequently also the robot arm 15 are pivotable about a substantially horizontal pivotal axis 16 which is located at the upper side of the milk box or near thereto in the lon- gitudinal direction thereof.
- pivotal axis 16 is located approximately in the middle above the milk box
- said pivotal axis constitutes the centre line of the material pivotal axis for the sidewardly pivotable portion 13, while in the embodiment of Figure 3 said pivotal axis is a virtual one which, moreover, during the pivoting movement of the sidewardly pivotable portion 13, moves upwardly.
- the pivotal axis 16 and the centre line of the rail 5 are located in a substantially vertical plane.
- the sidewardly pivotable portion 13 is connected with the supporting unit 4 by means of a quadrangle hinge construction 17, composed of arms 18 and 19, the distance between the hinge points of said arms on the carrier 14 being larger than the distance between the hinge points of these arms on the supporting unit 4.
- the sideward pivoting movement of the portion 13 is achieved by means of a control cylinder 20 which is disposed between said pivotable portion 13 and the supporting unit 4.
- the sidewardly pivotable portion 13 comprises the carrier 14 and the robot arm 15.
- the robot arm 15 is connected movably in height with the carrier 14 by means of a control cylinder 21.
- Parallel to this control cylinder 21 there are provided one or more guide rods 22 for counteracting a rotating movement of the robot arm 15 about an axis in the longitudinal direction of the control cylinder 21 relative to the carrier 14.
- the robot arm 15 comprises a portion 23 extending obliquely downwards in the direction of the milk box and a portion 24 extending horizontally.
- the latter portion 24 may be produced as the end piece of the robot arm construction as described in EP-A-0 360 354 or in EP-A-0 519 544, the description of this end piece as well as its function being considered to be inserted here.
- Said end piece is adapted to serve as a carrier for the teat cups 25 and for the detector 26 by means of which the position of the teats can be determined.
- the sidewardly pivotable portion 13 of the robot arm construction is pivotable outwardly to such an extent that the robot arm 15 is located almost entirely outside the milk box 1.
- the robot arm construction 3 has first to be moved by means of the motor 12 in the longitudinal direction of the milk box to such an extent, i.e. into a position in which the robot arm 15 has pivoted entirely or almost entirely outside the milk box, that, by means of the control cylinder 20, the robot arm 15 can be pivoted under the animal into a position in which the detector 26 is capable of determining the position of the teats.
- the teat cups 25 may be disconnected from the teats in the way described in the aforementioned EP-A-0 360 354.
- the pivotability of the robot arm 15 about the pivotal axis 16 may be of great advantage when the teats of the animal are directed somewhat outwardly; a situation which occurs in particular when relatively much time has elapsed since the previous milking run.
- Figure 4 shows an embodiment in which there are provided two milk boxes arranged side by side, while the robot arm construction 3 is located in the space between the two milk boxes.
- the upper rail 5 along which the robot arm construction 3 is movable in the longitudinal direction of the milk boxes is attached by means of supports 27 to the fencing 2 of the two milk boxes, more in particular in the middle between said milk boxes.
- the supporting unit 4 is composed of two portions which are connected to each other by means of a connecting element 28 in which the rollers 9 are bearing-supported. By means of the rollers 9 the two portions of the supporting unit 4 bear on the rail 5.
- Each of the two portions of the supporting unit 4 is provided at its lower side with rollers 10, while each of the portions of the supporting unit 4 is supported in the same manner as in the embodiments shown in Figures 1 to 3.
- the pivotable portion 13 is capable of pivoting sidewardly to a limited extent towards both milk boxes by means of the control cylinder 20 which, also in this case, is disposed between said sidewardly pivotable portion 13 and the supporting unit 4.
- the pivotal axis 16 is then located under the rail 5.
- the carrier 14 is pivotable about the pivotal axis 16 relative to the supporting unit 4 by means of supports 29 attached to said supporting unit 4, at the ends of which supports 29 the material pivotal axis extends; also in this case the pivotal axis 16 constitutes the centre line of the material pivotal axis.
- the robot arm 15 is indeed connected movably in height with the carrier 14 by means of the control cylinder 21, but in this case the robot arm is also rotatable around the centre line of said control cylinder with the aid of pivoting means 30.
- the pivoting means 30 are constituted by a motor 31 and transmission means, such as gear wheels 32.
- the milking robot comprises a computer for controlling the automatic connection of the teat cups, the automatic milking of the animals and the automatic disconnection of the teat cups after milking.
- the above-described possibilities of movement of the robot arm 15 of the robot arm construction 3 are under control of the computer; in other words, the motors 12 and 31 and the control cylinders 20 and 21 are computer-controlled.
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Animal Husbandry (AREA)
- Zoology (AREA)
- Biodiversity & Conservation Biology (AREA)
- Feeding And Watering For Cattle Raising And Animal Husbandry (AREA)
- Manipulator (AREA)
- External Artificial Organs (AREA)
- Farming Of Fish And Shellfish (AREA)
- Catching Or Destruction (AREA)
- Toys (AREA)
- Housing For Livestock And Birds (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
Abstract
Description
Claims
Priority Applications (9)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP97929567A EP0848588B1 (en) | 1996-07-05 | 1997-07-01 | An implement for automatically milking animals |
AU33600/97A AU723914B2 (en) | 1996-07-05 | 1997-07-01 | An implement for automatically milking animals |
NZ330079A NZ330079A (en) | 1996-07-05 | 1997-07-01 | Milk box and milk unit moveable forwardly and backwardly about one or more hinges |
AT97929567T ATE207288T1 (en) | 1996-07-05 | 1997-07-01 | DEVICE FOR AUTOMATIC MILKING OF ANIMALS |
CA002231154A CA2231154C (en) | 1996-07-05 | 1997-07-01 | An implement for automatically milking animals |
DK97929567T DK0848588T3 (en) | 1996-07-05 | 1997-07-01 | Apparatus for automatic milking of animals |
DE69707626T DE69707626T2 (en) | 1996-07-05 | 1997-07-01 | DEVICE FOR AUTOMATIC MILKING OF ANIMALS |
JP50507698A JP3703498B2 (en) | 1996-07-05 | 1997-07-01 | Animal automatic milking equipment |
US09/038,482 US6041736A (en) | 1996-07-05 | 1998-03-04 | Apparatus and method for automatically milking animals |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP96201881 | 1996-07-05 | ||
EP96201881.8 | 1996-07-05 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US09/038,482 Continuation US6041736A (en) | 1996-07-05 | 1998-03-04 | Apparatus and method for automatically milking animals |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1998001022A1 true WO1998001022A1 (en) | 1998-01-15 |
Family
ID=8224148
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/NL1997/000370 WO1998001022A1 (en) | 1996-07-05 | 1997-07-01 | An implement for automatically milking animals |
Country Status (11)
Country | Link |
---|---|
US (1) | US6041736A (en) |
EP (3) | EP1084610B1 (en) |
JP (1) | JP3703498B2 (en) |
AT (3) | ATE262783T1 (en) |
AU (1) | AU723914B2 (en) |
CA (1) | CA2231154C (en) |
DE (4) | DE69731004T2 (en) |
DK (2) | DK0848588T3 (en) |
ES (1) | ES2166547T3 (en) |
NZ (3) | NZ330079A (en) |
WO (1) | WO1998001022A1 (en) |
Cited By (29)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1999025177A1 (en) * | 1997-11-14 | 1999-05-27 | Delaval Holding Ab | An apparatus for performing an animal related operation |
NL1015670C2 (en) * | 2000-07-10 | 2002-01-11 | Lely Entpr Ag | Device for automatic milking of animals. |
NL1015673C2 (en) * | 2000-07-10 | 2002-01-11 | Lely Entpr Ag | Device for automatic milking of animals. |
WO2012149099A1 (en) * | 2011-04-28 | 2012-11-01 | Technologies Holdings Corp. | Milking box with robotic attacher |
WO2012149248A1 (en) * | 2011-04-28 | 2012-11-01 | Technologies Holdings Corp. | Arrangement of milking box stalls |
WO2012149079A3 (en) * | 2011-04-28 | 2013-01-24 | Technologies Holdings Corp. | Milking box with robotic attacher |
US8590488B2 (en) | 2010-08-31 | 2013-11-26 | Technologies Holdings Corp. | Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock |
US8671885B2 (en) | 2011-04-28 | 2014-03-18 | Technologies Holdings Corp. | Vision system for robotic attacher |
US8683946B2 (en) | 2011-04-28 | 2014-04-01 | Technologies Holdings Corp. | System and method of attaching cups to a dairy animal |
US8746176B2 (en) | 2011-04-28 | 2014-06-10 | Technologies Holdings Corp. | System and method of attaching a cup to a dairy animal according to a sequence |
US8800487B2 (en) | 2010-08-31 | 2014-08-12 | Technologies Holdings Corp. | System and method for controlling the position of a robot carriage based on the position of a milking stall of an adjacent rotary milking platform |
US8885891B2 (en) | 2011-04-28 | 2014-11-11 | Technologies Holdings Corp. | System and method for analyzing data captured by a three-dimensional camera |
US8903129B2 (en) | 2011-04-28 | 2014-12-02 | Technologies Holdings Corp. | System and method for filtering data captured by a 2D camera |
US9043988B2 (en) | 2011-04-28 | 2015-06-02 | Technologies Holdings Corp. | Milking box with storage area for teat cups |
US9049843B2 (en) | 2011-04-28 | 2015-06-09 | Technologies Holdings Corp. | Milking box with a robotic attacher having a three-dimensional range of motion |
US9058657B2 (en) | 2011-04-28 | 2015-06-16 | Technologies Holdings Corp. | System and method for filtering data captured by a 3D camera |
US9149018B2 (en) | 2010-08-31 | 2015-10-06 | Technologies Holdings Corp. | System and method for determining whether to operate a robot in conjunction with a rotary milking platform based on detection of a milking claw |
US9161511B2 (en) | 2010-07-06 | 2015-10-20 | Technologies Holdings Corp. | Automated rotary milking system |
US9161512B2 (en) | 2011-04-28 | 2015-10-20 | Technologies Holdings Corp. | Milking box with robotic attacher comprising an arm that pivots, rotates, and grips |
US9215861B2 (en) | 2011-04-28 | 2015-12-22 | Technologies Holdings Corp. | Milking box with robotic attacher and backplane for tracking movements of a dairy animal |
US9258975B2 (en) | 2011-04-28 | 2016-02-16 | Technologies Holdings Corp. | Milking box with robotic attacher and vision system |
US9265227B2 (en) | 2011-04-28 | 2016-02-23 | Technologies Holdings Corp. | System and method for improved attachment of a cup to a dairy animal |
US9357744B2 (en) | 2011-04-28 | 2016-06-07 | Technologies Holdings Corp. | Cleaning system for a milking box stall |
US9681634B2 (en) | 2011-04-28 | 2017-06-20 | Technologies Holdings Corp. | System and method to determine a teat position using edge detection in rear images of a livestock from two cameras |
WO2018008026A1 (en) * | 2016-07-05 | 2018-01-11 | Dairyionics Ltd | Means and methods for free dome range |
US10111401B2 (en) | 2010-08-31 | 2018-10-30 | Technologies Holdings Corp. | System and method for determining whether to operate a robot in conjunction with a rotary parlor |
US10127446B2 (en) | 2011-04-28 | 2018-11-13 | Technologies Holdings Corp. | System and method for filtering data captured by a 2D camera |
US10357015B2 (en) | 2011-04-28 | 2019-07-23 | Technologies Holdings Corp. | Robotic arm with double grabber and method of operation |
WO2021038566A1 (en) * | 2019-08-28 | 2021-03-04 | Dairyionics Ltd | A dairy farm with a single or multiple frontal elevated roads |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE517285C2 (en) * | 1998-07-24 | 2002-05-21 | Delaval Holding Ab | Apparatus for automatic milking of an animal |
NL1010304C2 (en) | 1998-10-13 | 2000-04-17 | Maasland Nv | Device for feeding young animals. |
NL1015672C2 (en) * | 2000-07-10 | 2002-01-11 | Lely Entpr Ag | Device for automatic milking of animals. |
NL1016195C2 (en) * | 2000-09-15 | 2002-03-18 | Lely Entpr Ag | Device for automatic milking of animals. |
SE531033C2 (en) | 2007-02-28 | 2008-11-25 | Delaval Holding Ab | A rotating stable for automatic milking of animals |
WO2012057678A1 (en) * | 2010-10-26 | 2012-05-03 | Delaval Holding Ab | A control system for at least one flexible tubular element connected to a cup-shaped member |
EP2685808B1 (en) | 2011-03-18 | 2018-02-07 | GEA Farm Technologies GmbH | Milking cluster and milking parlour having such a milking cluster |
DE102012102133A1 (en) | 2012-03-14 | 2013-09-19 | Gea Farm Technologies Gmbh | MELSTAND ASSEMBLY WITH AN INNER ROBOT DEVICE |
DE102012110503A1 (en) | 2012-03-14 | 2013-09-19 | Gea Farm Technologies Gmbh | Divider of a milking parlor arrangement and milking parlor arrangement |
DE102014107124A1 (en) | 2014-05-20 | 2015-11-26 | Gea Farm Technologies Gmbh | Arm arrangement for a milking parlor arrangement for the automatic milking of dairy animals, divider of a milking parlor arrangement and milking parlor arrangement |
WO2016026034A1 (en) * | 2014-08-18 | 2016-02-25 | Milkomax, Solutions Laitières Inc. | Automatic animal processing device |
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EP0213660A1 (en) * | 1985-09-04 | 1987-03-11 | Multinorm B.V. | Milking apparatus |
EP0313109A1 (en) * | 1985-03-12 | 1989-04-26 | C. van der Lely N.V. | Implement for milking animals |
SU1484333A1 (en) * | 1987-05-19 | 1989-06-07 | Северо-Кавказский научно-исследовательский институт животноводства | Milking installation |
EP0519544A1 (en) * | 1991-06-10 | 1992-12-23 | C. van der Lely N.V. | An implement for milking animals |
EP0630558A2 (en) * | 1993-06-24 | 1994-12-28 | Texas Industries Inc. | A construction for automatically milking animals |
EP0689762A1 (en) * | 1994-06-28 | 1996-01-03 | Maasland N.V. | An implement for automatically milking animals |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
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NL8802332A (en) * | 1988-09-21 | 1990-04-17 | Lely Nv C Van Der | APPARATUS FOR MILKING AN ANIMAL. |
US5000119A (en) * | 1990-08-27 | 1991-03-19 | Norbco Inc. | Wedge-shaped milking stall and parlor |
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-
1997
- 1997-07-01 NZ NZ330079A patent/NZ330079A/en unknown
- 1997-07-01 WO PCT/NL1997/000370 patent/WO1998001022A1/en active IP Right Grant
- 1997-07-01 DK DK97929567T patent/DK0848588T3/en active
- 1997-07-01 AU AU33600/97A patent/AU723914B2/en not_active Ceased
- 1997-07-01 CA CA002231154A patent/CA2231154C/en not_active Expired - Fee Related
- 1997-07-01 DE DE69731004T patent/DE69731004T2/en not_active Revoked
- 1997-07-01 EP EP01100039A patent/EP1084610B1/en not_active Expired - Lifetime
- 1997-07-01 DK DK01100040T patent/DK1084611T3/en active
- 1997-07-01 JP JP50507698A patent/JP3703498B2/en not_active Expired - Fee Related
- 1997-07-01 AT AT01100039T patent/ATE262783T1/en not_active IP Right Cessation
- 1997-07-01 NZ NZ335912A patent/NZ335912A/en unknown
- 1997-07-01 DE DE69707626T patent/DE69707626T2/en not_active Expired - Lifetime
- 1997-07-01 DE DE69728454T patent/DE69728454T2/en not_active Expired - Lifetime
- 1997-07-01 EP EP01100040A patent/EP1084611B1/en not_active Revoked
- 1997-07-01 NZ NZ335913A patent/NZ335913A/en unknown
- 1997-07-01 DE DE1997224871 patent/DE29724871U1/en not_active Expired - Lifetime
- 1997-07-01 AT AT97929567T patent/ATE207288T1/en not_active IP Right Cessation
- 1997-07-01 EP EP97929567A patent/EP0848588B1/en not_active Expired - Lifetime
- 1997-07-01 AT AT01100040T patent/ATE277509T1/en not_active IP Right Cessation
- 1997-07-01 ES ES97929567T patent/ES2166547T3/en not_active Expired - Lifetime
-
1998
- 1998-03-04 US US09/038,482 patent/US6041736A/en not_active Expired - Lifetime
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Non-Patent Citations (1)
Title |
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DATABASE WPI Section PQ Week 8950, Derwent World Patents Index; Class P13, AN 89-369035, XP002041890 * |
Cited By (129)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6386141B1 (en) | 1997-11-14 | 2002-05-14 | Delaval Holding Ab | Apparatus for milking or other animal operation having robot arm suspension capable of performing a pendulum movement |
WO1999025177A1 (en) * | 1997-11-14 | 1999-05-27 | Delaval Holding Ab | An apparatus for performing an animal related operation |
NL1015670C2 (en) * | 2000-07-10 | 2002-01-11 | Lely Entpr Ag | Device for automatic milking of animals. |
NL1015673C2 (en) * | 2000-07-10 | 2002-01-11 | Lely Entpr Ag | Device for automatic milking of animals. |
EP1172030A1 (en) * | 2000-07-10 | 2002-01-16 | Lely Enterprises AG | A construction for automatically milking animals |
EP1172032A1 (en) * | 2000-07-10 | 2002-01-16 | Lely Enterprises AG | A construction for automatically milking animals |
US9161511B2 (en) | 2010-07-06 | 2015-10-20 | Technologies Holdings Corp. | Automated rotary milking system |
US8807085B2 (en) | 2010-08-31 | 2014-08-19 | Technologies Holdings Corp. | Automated system for applying disinfectant to the teats of dairy livestock |
US9737043B2 (en) | 2010-08-31 | 2017-08-22 | Technologies Holdings Corp. | Automated system for applying disinfectant to the teats of dairy livestock |
US10327414B2 (en) | 2010-08-31 | 2019-06-25 | Technologies Holdings Corp. | System and method for controlling the position of a robot carriage based on the position of a milking stall of an adjacent rotary milking platform |
US8590488B2 (en) | 2010-08-31 | 2013-11-26 | Technologies Holdings Corp. | Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock |
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US6041736A (en) | 2000-03-28 |
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AU723914B2 (en) | 2000-09-07 |
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JPH11511986A (en) | 1999-10-19 |
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EP1084611A3 (en) | 2002-03-20 |
DE69707626D1 (en) | 2001-11-29 |
DE69731004D1 (en) | 2004-11-04 |
EP0848588A1 (en) | 1998-06-24 |
NZ335912A (en) | 2000-05-26 |
DE69728454T2 (en) | 2005-03-24 |
DE29724871U1 (en) | 2004-12-16 |
AU3360097A (en) | 1998-02-02 |
ATE207288T1 (en) | 2001-11-15 |
NZ330079A (en) | 2000-01-28 |
ATE262783T1 (en) | 2004-04-15 |
EP0848588B1 (en) | 2001-10-24 |
NZ335913A (en) | 2000-03-27 |
CA2231154C (en) | 2006-01-17 |
CA2231154A1 (en) | 1998-01-15 |
EP1084610A2 (en) | 2001-03-21 |
DK0848588T3 (en) | 2002-02-11 |
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